\hypertarget{_poly_traj_gen_8h}{}\section{include/traj\+\_\+gen/\+Poly\+Traj\+Gen.h File Reference}
\label{_poly_traj_gen_8h}\index{include/traj\+\_\+gen/\+Poly\+Traj\+Gen.\+h@{include/traj\+\_\+gen/\+Poly\+Traj\+Gen.\+h}}
{\ttfamily \#include $<$ros/ros.\+h$>$}\\*
{\ttfamily \#include $<$geometry\+\_\+msgs/\+Twist.\+h$>$}\\*
{\ttfamily \#include $<$geometry\+\_\+msgs/\+Pose\+Stamped.\+h$>$}\\*
{\ttfamily \#include $<$visualization\+\_\+msgs/\+Marker\+Array.\+h$>$}\\*
{\ttfamily \#include $<$nav\+\_\+msgs/\+Path.\+h$>$}\\*
{\ttfamily \#include $<$eigen3/\+Eigen/\+Core$>$}\\*
{\ttfamily \#include $<$eigen3/\+Eigen/\+Dense$>$}\\*
{\ttfamily \#include $<$eigen3/\+Eigen/\+Sparse\+Core$>$}\\*
{\ttfamily \#include $<$vector$>$}\\*
{\ttfamily \#include $<$iostream$>$}\\*
{\ttfamily \#include $<$chrono$>$}\\*
{\ttfamily \#include $<$memory$>$}\\*
{\ttfamily \#include \char`\"{}traj\+\_\+gen/\+Poly\+Spline\+X\+Y\+Z.\+h\char`\"{}}\\*
{\ttfamily \#include \char`\"{}qp\+O\+A\+S\+E\+S.\+hpp\char`\"{}}\\*
Include dependency graph for Poly\+Traj\+Gen.\+h\+:
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\subsection*{Classes}
\begin{DoxyCompactItemize}
\item 
struct \hyperlink{struct_traj_gen_opts}{Traj\+Gen\+Opts}
\item 
struct \hyperlink{struct_constraint}{Constraint}
\item 
struct \hyperlink{struct_q_p__form}{Q\+P\+\_\+form}
\item 
struct \hyperlink{struct_q_p__form__xyz}{Q\+P\+\_\+form\+\_\+xyz}
\item 
class \hyperlink{class_path_planner}{Path\+Planner}
\end{DoxyCompactItemize}
\subsection*{Typedefs}
\begin{DoxyCompactItemize}
\item 
typedef Vector\+Xd \hyperlink{_poly_traj_gen_8h_a37d0493e73d8ef72a2405596ad6cee0c}{Time\+Series}
\end{DoxyCompactItemize}
\subsection*{Functions}
\begin{DoxyCompactItemize}
\item 
Vector\+Xd \hyperlink{_poly_traj_gen_8h_ace410f7685911e2ddd63a13be165c522}{t\+\_\+vec} (int poly\+\_\+order, double time, int n\+\_\+diff)
\item 
Matrix\+Xd \hyperlink{_poly_traj_gen_8h_a5a2e38cc8bf6ae9ab0395994b68e52ae}{time\+\_\+scailing\+\_\+mat} (double dt, int poly\+\_\+order)
\item 
Matrix\+Xd \hyperlink{_poly_traj_gen_8h_a0b792e87b38c7882b087726a82eaa72e}{integral\+\_\+jerk\+\_\+squared} (int poly\+\_\+order)
\item 
Matrix\+Xd \hyperlink{_poly_traj_gen_8h_a98c8e48d65c22d6da6b6b82242586f15}{integral\+\_\+snap\+\_\+squared} (int poly\+\_\+order)
\item 
int \hyperlink{_poly_traj_gen_8h_ad5edaf0e8427ca63e44408bdbb37d7b0}{find\+\_\+spline\+\_\+interval} (const vector$<$ double $>$ \&knots, double eval\+\_\+t)
\item 
void \hyperlink{_poly_traj_gen_8h_a2fbc0abee53f736fe5f5d2a5c04ec723}{row\+\_\+append} (Matrix\+Xd \&mat, Matrix\+Xd mat\+\_\+sub)
\end{DoxyCompactItemize}


\subsection{Typedef Documentation}
\index{Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}!Time\+Series@{Time\+Series}}
\index{Time\+Series@{Time\+Series}!Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}}
\subsubsection[{\texorpdfstring{Time\+Series}{TimeSeries}}]{\setlength{\rightskip}{0pt plus 5cm}typedef Vector\+Xd {\bf Time\+Series}}\hypertarget{_poly_traj_gen_8h_a37d0493e73d8ef72a2405596ad6cee0c}{}\label{_poly_traj_gen_8h_a37d0493e73d8ef72a2405596ad6cee0c}


Definition at line 30 of file Poly\+Traj\+Gen.\+h.



\subsection{Function Documentation}
\index{Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}!find\+\_\+spline\+\_\+interval@{find\+\_\+spline\+\_\+interval}}
\index{find\+\_\+spline\+\_\+interval@{find\+\_\+spline\+\_\+interval}!Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}}
\subsubsection[{\texorpdfstring{find\+\_\+spline\+\_\+interval(const vector$<$ double $>$ \&knots, double eval\+\_\+t)}{find_spline_interval(const vector< double > &knots, double eval_t)}}]{\setlength{\rightskip}{0pt plus 5cm}int find\+\_\+spline\+\_\+interval (
\begin{DoxyParamCaption}
\item[{const vector$<$ double $>$ \&}]{knots, }
\item[{double}]{eval\+\_\+t}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8h_ad5edaf0e8427ca63e44408bdbb37d7b0}{}\label{_poly_traj_gen_8h_ad5edaf0e8427ca63e44408bdbb37d7b0}


Definition at line 855 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}!integral\+\_\+jerk\+\_\+squared@{integral\+\_\+jerk\+\_\+squared}}
\index{integral\+\_\+jerk\+\_\+squared@{integral\+\_\+jerk\+\_\+squared}!Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}}
\subsubsection[{\texorpdfstring{integral\+\_\+jerk\+\_\+squared(int poly\+\_\+order)}{integral_jerk_squared(int poly_order)}}]{\setlength{\rightskip}{0pt plus 5cm}Matrix\+Xd integral\+\_\+jerk\+\_\+squared (
\begin{DoxyParamCaption}
\item[{int}]{poly\+\_\+order}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8h_a0b792e87b38c7882b087726a82eaa72e}{}\label{_poly_traj_gen_8h_a0b792e87b38c7882b087726a82eaa72e}


Definition at line 812 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}!integral\+\_\+snap\+\_\+squared@{integral\+\_\+snap\+\_\+squared}}
\index{integral\+\_\+snap\+\_\+squared@{integral\+\_\+snap\+\_\+squared}!Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}}
\subsubsection[{\texorpdfstring{integral\+\_\+snap\+\_\+squared(int poly\+\_\+order)}{integral_snap_squared(int poly_order)}}]{\setlength{\rightskip}{0pt plus 5cm}Matrix\+Xd integral\+\_\+snap\+\_\+squared (
\begin{DoxyParamCaption}
\item[{int}]{poly\+\_\+order}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8h_a98c8e48d65c22d6da6b6b82242586f15}{}\label{_poly_traj_gen_8h_a98c8e48d65c22d6da6b6b82242586f15}


Definition at line 829 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}!row\+\_\+append@{row\+\_\+append}}
\index{row\+\_\+append@{row\+\_\+append}!Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}}
\subsubsection[{\texorpdfstring{row\+\_\+append(\+Matrix\+Xd \&mat, Matrix\+Xd mat\+\_\+sub)}{row_append(MatrixXd &mat, MatrixXd mat_sub)}}]{\setlength{\rightskip}{0pt plus 5cm}void row\+\_\+append (
\begin{DoxyParamCaption}
\item[{Matrix\+Xd \&}]{mat, }
\item[{Matrix\+Xd}]{mat\+\_\+sub}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8h_a2fbc0abee53f736fe5f5d2a5c04ec723}{}\label{_poly_traj_gen_8h_a2fbc0abee53f736fe5f5d2a5c04ec723}


Definition at line 846 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}!t\+\_\+vec@{t\+\_\+vec}}
\index{t\+\_\+vec@{t\+\_\+vec}!Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}}
\subsubsection[{\texorpdfstring{t\+\_\+vec(int poly\+\_\+order, double time, int n\+\_\+diff)}{t_vec(int poly_order, double time, int n_diff)}}]{\setlength{\rightskip}{0pt plus 5cm}Vector\+Xd t\+\_\+vec (
\begin{DoxyParamCaption}
\item[{int}]{poly\+\_\+order, }
\item[{double}]{time, }
\item[{int}]{n\+\_\+diff}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8h_ace410f7685911e2ddd63a13be165c522}{}\label{_poly_traj_gen_8h_ace410f7685911e2ddd63a13be165c522}
Lower level routine 

Definition at line 784 of file Poly\+Traj\+Gen.\+cpp.



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\index{Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}!time\+\_\+scailing\+\_\+mat@{time\+\_\+scailing\+\_\+mat}}
\index{time\+\_\+scailing\+\_\+mat@{time\+\_\+scailing\+\_\+mat}!Poly\+Traj\+Gen.\+h@{Poly\+Traj\+Gen.\+h}}
\subsubsection[{\texorpdfstring{time\+\_\+scailing\+\_\+mat(double dt, int poly\+\_\+order)}{time_scailing_mat(double dt, int poly_order)}}]{\setlength{\rightskip}{0pt plus 5cm}Matrix\+Xd time\+\_\+scailing\+\_\+mat (
\begin{DoxyParamCaption}
\item[{double}]{dt, }
\item[{int}]{poly\+\_\+order}
\end{DoxyParamCaption}
)}\hypertarget{_poly_traj_gen_8h_a5a2e38cc8bf6ae9ab0395994b68e52ae}{}\label{_poly_traj_gen_8h_a5a2e38cc8bf6ae9ab0395994b68e52ae}


Definition at line 774 of file Poly\+Traj\+Gen.\+cpp.



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